# Genesis Forge

> A modular robotics RL training framework built on the Genesis physics simulator.

Genesis Forge is a modular robotics reinforcement learning framework built on the
Genesis physics simulator. It provides a manager-based architecture for constructing
Gymnasium-compatible parallel RL environments.

Install: pip install genesis-forge
Source: https://github.com/jgillick/genesis-forge


## Project

- [Genesis Forge](https://genesis-forge.readthedocs.io/en/latest/index.md)

## Environments

- [Environments Overview](https://genesis-forge.readthedocs.io/en/latest/api/environments/index.md)
- [GenesisEnv](https://genesis-forge.readthedocs.io/en/latest/api/environments/genesis.md)
- [ManagedEnvironment](https://genesis-forge.readthedocs.io/en/latest/api/environments/managed.md)

## Managers

- [Manager Overview](https://genesis-forge.readthedocs.io/en/latest/api/managers/index.md)
- [ActuatorManager](https://genesis-forge.readthedocs.io/en/latest/api/managers/actuator.md)
- [ContactManager](https://genesis-forge.readthedocs.io/en/latest/api/managers/contact.md)
- [EntityManager](https://genesis-forge.readthedocs.io/en/latest/api/managers/entity.md)
- [NoisyValue](https://genesis-forge.readthedocs.io/en/latest/api/managers/noisy_value.md)
- [ObservationManager](https://genesis-forge.readthedocs.io/en/latest/api/managers/observation.md)
- [RewardManager](https://genesis-forge.readthedocs.io/en/latest/api/managers/reward.md)
- [TerminationManager](https://genesis-forge.readthedocs.io/en/latest/api/managers/termination.md)
- [TerrainManager](https://genesis-forge.readthedocs.io/en/latest/api/managers/terrain.md)
- [Action](https://genesis-forge.readthedocs.io/en/latest/api/managers/action/index.md)
- [PositionActionManager](https://genesis-forge.readthedocs.io/en/latest/api/managers/action/position.md)
- [PositionWithinLimitsActionManager](https://genesis-forge.readthedocs.io/en/latest/api/managers/action/position_w_limits.md)
- [Command](https://genesis-forge.readthedocs.io/en/latest/api/managers/command/index.md)
- [CommandManager](https://genesis-forge.readthedocs.io/en/latest/api/managers/command/command.md)
- [VelocityCommandManager](https://genesis-forge.readthedocs.io/en/latest/api/managers/command/velocity.md)

## MDP Functions

- [MDP Function Overview](https://genesis-forge.readthedocs.io/en/latest/api/mdp/index.md)
- [Observations](https://genesis-forge.readthedocs.io/en/latest/api/mdp/observations.md)
- [Reset](https://genesis-forge.readthedocs.io/en/latest/api/mdp/reset.md)
- [Rewards](https://genesis-forge.readthedocs.io/en/latest/api/mdp/rewards.md)
- [Terminations](https://genesis-forge.readthedocs.io/en/latest/api/mdp/terminations.md)

## Wrappers

- [Wrapper Overview](https://genesis-forge.readthedocs.io/en/latest/api/wrappers/index.md)
- [RSL-RL](https://genesis-forge.readthedocs.io/en/latest/api/wrappers/rsl_rl.md)
- [SKRL](https://genesis-forge.readthedocs.io/en/latest/api/wrappers/skrl.md)
- [Video](https://genesis-forge.readthedocs.io/en/latest/api/wrappers/video.md)

## Other

- [Gamepad](https://genesis-forge.readthedocs.io/en/latest/api/other/gamepad.md)

